Hey all, we are looking at modifying a current UR10 program that is picking up boxes from a conveyor and stacking them on 2 skids. There are 4 different box sizes with different ways of being stacked on the skids. Currently they are using a make-shift palletizing program with long scripts defining fixed points for each drop position. My question is whether or not there is a simple way of utilizing the palletizing wizard to orientate the boxes shown in the image below. I have searched online but find nothing for a cross stacked pallet as such. I really don't want to have to create 5 different 2D pallet programs for each skid as that will add up fast for each different box. Any input is appreciated, thank you.